DE69207627D1 - Hybrid position and force control system - Google Patents

Hybrid position and force control system

Info

Publication number
DE69207627D1
DE69207627D1 DE69207627T DE69207627T DE69207627D1 DE 69207627 D1 DE69207627 D1 DE 69207627D1 DE 69207627 T DE69207627 T DE 69207627T DE 69207627 T DE69207627 T DE 69207627T DE 69207627 D1 DE69207627 D1 DE 69207627D1
Authority
DE
Germany
Prior art keywords
control system
force control
hybrid position
hybrid
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69207627T
Other languages
German (de)
Other versions
DE69207627T2 (en
Inventor
William D Fisher
M Shahid Mujtaba
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Agilent Technologies Inc
Original Assignee
Hewlett Packard Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hewlett Packard Co filed Critical Hewlett Packard Co
Application granted granted Critical
Publication of DE69207627D1 publication Critical patent/DE69207627D1/en
Publication of DE69207627T2 publication Critical patent/DE69207627T2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
DE1992607627 1991-04-09 1992-03-23 Hybrid position and force control system Expired - Fee Related DE69207627T2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US68227891A 1991-04-09 1991-04-09
US77158391A 1991-10-04 1991-10-04

Publications (2)

Publication Number Publication Date
DE69207627D1 true DE69207627D1 (en) 1996-02-29
DE69207627T2 DE69207627T2 (en) 1996-05-30

Family

ID=27102858

Family Applications (1)

Application Number Title Priority Date Filing Date
DE1992607627 Expired - Fee Related DE69207627T2 (en) 1991-04-09 1992-03-23 Hybrid position and force control system

Country Status (3)

Country Link
EP (1) EP0508205B1 (en)
JP (1) JP3296585B2 (en)
DE (1) DE69207627T2 (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1995007793A2 (en) * 1993-09-13 1995-03-23 United Technologies Corporation Force and position controlled manipulator
JPH07197485A (en) * 1993-12-28 1995-08-01 Komatsu Ltd Working machine control device for construction machine
SE9400579L (en) * 1994-02-21 1995-08-22 Asea Brown Boveri Procedure for controlling the movement of an industrial robot in and around singularities
JP2009066685A (en) 2007-09-11 2009-04-02 Sony Corp Robot device, and control method for robot device
CN107635472A (en) 2015-06-19 2018-01-26 神经系统分析公司 Transcranial doppler detector
US11090026B2 (en) 2016-01-05 2021-08-17 Novasignal Corp. Systems and methods for determining clinical indications
JP2019503220A (en) * 2016-01-05 2019-02-07 ニューラル アナリティクス、インコーポレイテッド Robot system for ultrasonic probe control
US11589836B2 (en) 2016-01-05 2023-02-28 Novasignal Corp. Systems and methods for detecting neurological conditions
CN108778141A (en) 2016-01-05 2018-11-09 神经系统分析公司 Integrated probe structure
DE102018210864B3 (en) 2018-07-02 2019-07-18 Kuka Deutschland Gmbh Method and system for controlling a robot
CN114131617B (en) * 2021-12-30 2024-03-19 华中科技大学 Intelligent compliant control method and device for industrial robot
CN114888793B (en) * 2022-04-21 2023-08-04 同济大学 Double-layer cooperative control method for multi-arm double-beam laser welding robot
CN114888813B (en) * 2022-06-21 2023-08-04 广州大学 Mechanical arm position force hybrid control method and device

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5988279A (en) * 1982-10-15 1984-05-22 新明和工業株式会社 Device for converting coordinate of robot with joint
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
US4826392A (en) * 1986-03-31 1989-05-02 California Institute Of Technology Method and apparatus for hybrid position/force control of multi-arm cooperating robots
US4860215A (en) * 1987-04-06 1989-08-22 California Institute Of Technology Method and apparatus for adaptive force and position control of manipulators
US4782258A (en) * 1987-10-28 1988-11-01 Westinghouse Electric Corp. Hybrid electro-pneumatic robot joint actuator

Also Published As

Publication number Publication date
DE69207627T2 (en) 1996-05-30
EP0508205B1 (en) 1996-01-17
JP3296585B2 (en) 2002-07-02
JPH05143161A (en) 1993-06-11
EP0508205A3 (en) 1993-06-23
EP0508205A2 (en) 1992-10-14

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8327 Change in the person/name/address of the patent owner

Owner name: AGILENT TECHNOLOGIES, INC. (N.D.GES.D.STAATES DELA

8339 Ceased/non-payment of the annual fee